#!/usr/bin/env python
# -*- coding: UTF-8 -*-

""" parameters setting """

import numpy as np

restore = False
speed = 3  # rad/s (pioneer 3dx: 5.6 rad/s: ~ 0.56m/s)  # similar to human's normal speed

wait_response = False # True: Synchronous response(too much delay)

valid_actions = ['forward', 'backward', 'left_forward', 'right_forward', 'stop']
valid_actions_dict = {valid_actions[0]: np.array([1.5*speed, 1.5*speed]),
                      valid_actions[1]: np.array([-speed*1.5, -speed*1.5]),
                      valid_actions[2]: np.array([0, speed*0.5]),
                      valid_actions[3]: np.array([speed*0.5, 0]),
                      valid_actions[4]: np.array([0, 0])}

# ultrasonic sensors
ultra_distribution = [f'Pioneer_p3dx_ultrasonicSensor{x+1}' for x in range(16)]
print(ultra_distribution)

# network
state_dim = 18#16#13
goal_dim = 2
action_dim = 2
action_discrete_dim = len(valid_actions)

time_step = 0.1
best_distance = 3.5/2

il_steps = 1000000   # total imitation learning step
il_update_freq = 4
n_ultra = len(ultra_distribution)
grid_width = 0.002

# turtlebot3 parameters
d = 0.079
r = 0.033